Articulated machine proximity system

ABSTRACT

In one embodiment, a towed implement proximity system, the system comprising: a first device comprising a transceiver, the first device configured to: transmit a signal; receive a first signal at a first angle and a second signal at a second angle responsive to the transmitted signal, the first and second signals comprising first information and second information, respectively, the first and second information each corresponding to respective positional information; and a controller coupled to the first device, the controller configured to determine a relative position in three axes between a first machine and a second machine based on the first and second information.

TECHNICAL FIELD

The present disclosure is generally related to articulated machines.

BACKGROUND

An articulated machine generally refers to a combination of two or moremachines that include at least a towing machine and a towed machine. Oneexample of an articulated machine may be found in, among otherindustries, the agricultural equipment industry, such as a combineharvester that tows another vehicle, such as a baler. Combine harvesters(or herein also referred to as merely a combine) harvest crop and thenunload the harvested crop, such as grain, from storage bins residing onthe combine harvester to the bed of a receiving vehicle, such as a truckbed. A common mechanism for performing this function is by way of anauger tube of a combine unloading auger discharging the grain from thestorage bins through the auger tube. Combines also comprise aspreader/chopper discharge assembly located toward the rear of thecombine for the discharge of crop material in the form of crop residue.A towed implement, such as a baler, may comprise a pickup assembly (orother apparatus to receive the crop directly through the air or via theground) and form the accumulated crop residue into bales.

When a combine tows a large implement (e.g., collectively, anarticulated machine), such as a large square baler, grain cart, or cobcollector, it may be difficult for an operator of the combine to observeor otherwise know of the position of the implement due to poor rearwardvisibility of the combine. Further, it is difficult to know theproximity of the towed implement in relationship to the combineunloading auger and spreader/chopper discharge assembly. Without knowingthe position of the implement, contact may occur between the combineunloading auger and the implement, potentially causing significantdamage to either or both machines. It is also important to know theposition of the implement if the operator attempts to deliver crop fromthe combine to the implement such as grain or material other than grain.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of the disclosure can be better understood with referenceto the following drawings. The components in the drawings are notnecessarily to scale, emphasis instead being placed upon clearlyillustrating the principles of the present disclosure. Moreover, in thedrawings, like reference numerals designate corresponding partsthroughout the several views.

FIG. 1 is an example environment in which an embodiment of anarticulated machine proximity system may be implemented.

FIG. 2 is a schematic diagram that illustrates one example of a type ofcollision between two machines that certain embodiments of anarticulated machine proximity system seeks to avoid.

FIG. 3 is a schematic diagram that illustrates three axes which a towedmachine can articulate in relationship to the towing machine and whichis determined by a controller of an articulated machine proximitysystem.

FIG. 4 is a block diagram that illustrates an example embodiment of anarticulated machine proximity system.

FIG. 5 is a block diagram that illustrates an example embodiment of acontroller of an articulated machine proximity system.

FIG. 6 is a flow diagram that illustrates an embodiment of anarticulated machine proximity method.

DESCRIPTION OF EXAMPLE EMBODIMENTS Overview

In one embodiment, an articulated machine proximity system, the systemcomprising: a first device comprising a transceiver, the first deviceconfigured to: transmit a signal; receive a first signal at a firstangle and a second signal at a second angle responsive to thetransmitted signal, the first and second signals comprising firstinformation and second information, respectively, the first and secondinformation each corresponding to respective positional information; anda controller coupled to the first device, the controller configured todetermine a relative position in three axes between a first machine anda second machine based on the first and second information.

DETAILED DESCRIPTION

Certain embodiments of an invention comprising an articulated machineproximity system and method are disclosed that provides an accurateposition of a towed implement relative to a towing machine in threeaxes. The three axes consist of pitch, yaw, and roll. In one embodiment,the articulated machine proximity system comprises one or more targetdevices (e.g., receiver(s), reflector(s)) located on the towed implement(e.g., machine) that receive an initial transmitted signal from one ormore sending devices (e.g., transceiver(s)) on the towing machine, andresponsive to receiving the transmitted initial signal, provide aresponse (e.g., reflected or otherwise) signal carrying positionalinformation (e.g., coordinates) back to the sending device. In someembodiments, this arrangement of devices can be reversed (e.g., theinitiating signal provided from a device on the towed machine andreceived at the towing machine). For purposes of facilitating thefollowing description, emphasis is placed on a sending device (e.g.,transceiver) sending (e.g., transmitting) a signal to one or more targetdevices on the towed vehicle and the target responding with positionalinformation via a response signal(s) as one example embodiment amongothers contemplated to be within the scope of the disclosure. Theinformation provided from the target devices carries positionalinformation from which a controller can derive three axes informationand ultimately determine if a collision is imminent, provide an alert orother avoidance measures, and/or identify a location for dispensingproduct and/or coupling to another machine. The controller located, forinstance, in the towing machine, processes the information received andforwarded by the sending device carrying the positional information andcomputes the proximity of the towing machine to the towed machine basedon this relative information. For instance, in one embodiment, thiscomputation may involve the well-known triangulation computation asoften utilized in cell tower/wireless device position computations.

As indicated in the background section of the present disclosure, oftentimes the types of machines used to perform the towing are large andpresent difficulties in observing by an operator the interactions withtowed implements, hence providing a risk of collision between the towingand towed machines. This situation is particularly problematic wherethere are irregularities in movement of the towed and towing machinesrelative to one another, such as on a steep incline and/or irregularsurfaces.

Having summarized certain features of an articulated machine proximitysystem of the present disclosure, reference will now be made in detailto the description of the disclosure as illustrated in the drawings.While the disclosure is described in connection with these drawings,there is no intent to limit it to the embodiment or embodimentsdisclosed herein. For instance, the machines described in the presentdisclosure comprise agricultural machines, and in particular, a combineharvester towing a square baler. However, any articulated machine (e.g.,comprising plural vehicles, such as recreational vehicles pulling a car,a sprayer machine pulling fertilizer implements, trucks in a series,etc.) is contemplated to be within the scope of the disclosedembodiments. Further, although the description identifies or describesspecifics of one or more embodiments, such specifics are not necessarilypart of every embodiment. On the contrary, the intent is to cover allalternatives, modifications and equivalents included within the spiritand scope of the disclosure as defined by the appended claims. Further,it should be appreciated in the context of the present disclosure thatthe claims are not necessarily limited to the particular embodiments setout in the description.

Referring now to FIG. 1, shown is an example environment 10 in whichcertain embodiments of an articulated machine proximity system may beimplemented. In particular, shown is a towing machine embodied in thisexample as a combine harvester 12 (herein, also referred to as acombine) and a towed machine embodied in this example as a square baler14 (herein, also referred to as a baler). The combination of the towingmachine and towed machine (e.g., combine 12 and baler 14) is alsoreferred to herein as an articulated machine. One having ordinary skillin the art should appreciate in the context of the present disclosurethat the example environment 10 is merely illustrative, and that othertowing and/or towed machines (e.g., implements), including additionalmachines other than just two in the articulated machine, may be used insome embodiments, including for use in the agricultural industry,recreational industry, mining industry, among others. The baler 14 ispivotally attached to the rear of the combine 12 via a tongue 16 whichis coupled to a hitch point on the back of the combine 12. The baler 14may be powered by a hydrostatic motor affixed to the flywheel of thebaler 14 drawing its power source from the engine of the combine 12 viaa hydrostatic pump.

The tongue 16 is attached to the chassis or main frame of the baler 14.The chassis is made of steel frame construction. The tongue 16 isconfigured to be coupled to the combine 12 so that crop material fromthe combine 12 can be transferred from the combine 12 directly to thebaler 14 without redirection through the air by the combine and withoutthe use of a conveyor coupled to either the combine 12 or the baler 14.The term “crop material” is intended to include grain and/or materialother than grain (MOG), such as crop residue from the combine 12.Moreover, the tongue 16 and the chassis of the baler 14 are configuredfor the flow of crop material therethrough. The crop material from thecombine 12 is directly discharged from the combine 12 to the baler 14.Also, the crop material from the combine 12 does not need to be orientedor moved upward from the back of the combine 12 in order to betransferred to the baler 14 or any other secondary vehicle. Note thatother configurations are contemplated, such as those where the cropmaterial is primarily picked up from the ground.

The crop material from the combine 12 is projected to a target definedby the baler 14. The target may be a baler collection device or feedingmechanism such as a pickup 18, and/or a collector such as a transfer pan20. The pickup 18 may be a rotating drum-type mechanism with flexibletines or teeth for lifting and conveying material from the ground to thebaler 14. The pickup 18 may be mounted to the chassis of baler 14 forpivoting movement about an upwardly and rearwardly disposed transversepivot axis. In one or more embodiments, at least a portion of cropmaterial may be directly received from the combine 12 at the baler 14without the pickup 18.

At least a portion of the crop material may be directly discharged to atransfer pan in front of a packer which prevents crop material that isthrown to the packer from falling to the ground. Packing forks can grabat least a portion of the crop material collected on the transfer panand move the crop material back to a stuffer chute.

Also, if desired, crop material may also be lifted or received from theground with the pickup 18. The pickup 18 may be either configured toreceive material directly from the ground or directly from the combine12. The crop material on the ground may be from the combine 12 towingthe baler 14 or some other machine (e.g., vehicle). A portion of cropmaterial received directly from the combine 12 may be discharged fromthe same location on the combine 12 as any other portion of cropmaterial discharged onto the ground to be picked up by the pickup 18 ofthe baler 14. However, in one or more embodiments, the combine 12 mayhave a chaff spreader where at least a portion of the chaff may bedirected into the trajectory of the crop material coming out from thecombine 12 and a tailboard 22. In another embodiment, the chaff can bedirectly discharged by the chaff spreader onto the baler 14. Forexample, the chaff may be received and collected on the transfer pan 20for the pickup 18 (or on the transfer pan for the packer).

Also shown is a pivoting auger tube 24 (herein, also referred to as anauger or auger tube) as a feature of the combine 12. The auger tube 24may be cylindrical or angled in structure (e.g., rectangle, conical,etc.). The opening of the auger tube 24 at its distal end isperipherally sealed by a joint member that hingedly engages a pivotingauger spout to interface the spout to the distal end of the auger tube24. The joint member may be rounded or spherical, or cylindrical on ahorizontal axis, so long as the interface between the auger tube 24 andpivoting auger spout is adequately sealed. In one embodiment, thepivoting auger spout pivots about an axis that is backward and forwardin the direction of travel of the combine harvester 12 in FIG. 1 whenthe tube 24 is extended transversely) of the combine 12. In the positiondepicted in FIG. 1, the auger tube 24 is disposed in a position thatlies along an axis parallel to the length of the combine 12. In thisposition, depending on the terrain, there is a potential risk ofcollision between the combine 12 (e.g., a component thereof, such as theauger tube 24) and the baler 14 (e.g., a component thereof, such as theouter frame of the baler), as is explained further below.

Also included are one or more sending devices 26 (one shown in sideelevation) on the rear of the combine 12 and a controller 28. In oneembodiment, the sending devices 26 include well-known transceiverfunctionality, including a baseband processing unit (e.g., with amicroprocessor, digital signal processor, memory, I/O, etc.) and a radiofrequency subsystem coupled via digital-to-analog (on the transmit side)and analog-to-digital (on the receive side) to the baseband processingunit. The radio frequency subsystem includes well-known modulationcomponents (e.g., demodulation and modulation), converters (e.g., up-and down-conversion), signal generation components (e.g., oscillators,mixers, etc.), power amplifier, switches (e.g., for providing switchingbetween receive and transmit functionality) and filters. Althoughdescribed in the context of radio frequency functionality, other bandsof operation are contemplated, including those for microwave,ultrasonic, optical, among others. In one embodiment, the signaltransmitted by the sending device 26 may be continual, or conditional(e.g., intermittent, such as based on detected power-up of the PTO,detected coupling to a towed implement, etc.) in some embodiments. Inone embodiments, transmission of a signal by the sending device 26 maybe via broadcast (e.g., omni-directional), or in some embodiments,uni-directional, such as via an infrared or laser-based or other opticalsignal.

The controller 28 may initiate the signaling by the sending device 26.In some embodiments, the sending device 26 may act independently toinitiate signaling, or in some embodiments, receive initiating signalsfrom the baler 14. Further discussion of the controller 28 followsbelow.

The baler 14 comprises on its frame surface plural target devices 30(one shown in FIG. 1). The target devices 30 may likewise comprisetransceiving functionality, or in some embodiments, only receivingfunctionality, or merely reflective features (e.g., no active processingof the signal) in some embodiments. The target devices 30 providepositional information to the sending device 26. In other words,information carried in the signal provided to the sending device 26,such as responsive to an initiation signal, carries coordinate (e.g.,Cartesian) information. Each target device 30 provides coordinateinformation (e.g., x, y, z) to the sending device 26, and the sensingdevice 22 forwards the information to the controller 28, which compriseslogic to perform triangulation of the coordinate information to deriveinformation regarding relative positioning between the combine 12 andthe baler 14 that accounts for differences in pitch, yaw, and roll.

In one embodiment, an articulated machine proximity system comprises thecontroller 28, the sending device 26, and plural target devices 28. Insome embodiments, an articulated machine proximity system comprises asubset of these components or additional components.

Having described an example environment 10 in which an articulatedmachine proximity system may be implemented, attention is directed toFIG. 2, which illustrates the combine 12 nearly colliding with the baler14. In this example, the combine 12 may be advancing up an incline 32defined by a relative to the baler 14 (e.g., according to a pitcharticulation). The combine 12 and the baler 14 may also havelongitudinal orientation that differs according to a given angle, 13(e.g., a yaw articulation). In addition, the baler 14 may articulate inrelationship to the combine 12 in a roll articulation (e.g., eachrelative to one another). Conditions in the terrain (and/or load) mayresult in these relative articulations between the combine 12 and thebaler 14, and if not controlled or monitored, may result in a collisionbetween the combine 12 (e.g., a component of the combine 12, such as theauger tube 24) and the baler 14 (e.g., a component of the baler 14, suchas the baler frame 34). Certain embodiments of an articulated machineproximity system use the relative articulations to prevent suchcollisions. In other words, and referring to FIGS. 2-3, each targetdevice 30A and 30B provides a response signal (responsive to receivingan initiating signal from the sending device 26) comprising positionalcoordinates. The positional coordinates are received by the sendingdevice 26, and forwarded (in some embodiments, first processed, such asvia signal amplification, filtering, etc.) by the sending device 26 tothe controller 28. The controller 28 determines the three axesconsisting of roll 36, pitch 38, and yaw 40 via triangulation based onthe positional information.

Once the three axes are computed, the controller 28 can determine basedon the three axes whether a collision is imminent (e.g., whether therelative positioning between the two machines 12 and 14 is at, orwithin, a predefined distance). For instance, a programmed threshold interms of the values of the three axes is stored in the controller 28 andrepresents a relative proximity between the two machines 12 and 14 thatis as close as desired (within a given tolerance) to avoid collision.Any relative positioning that is at or closer than the threshold resultsin the controller 28 taking certain measures to avoid collision. Acontinual monitoring of these coordinates may also provide an indicationof how fast the two machines 12 and 14 are approaching the threshold.

If it is determined that a collision is imminent, the controller 28 cantake one of a plurality of avoidance measures. For instance, thecontroller 28 may cause an audible alarm to activate in the cab of thecombine 12, and/or the controller 28 may activate a light-emitting diode(LED) or other type of alarm in the cab. In some embodiments, the visualalarm may comprise a graphic on a display panel of the operator console(or headset), showing graphic imagery of the relative positions betweenthe two machines. Based on these alerts, the operator may take avoidancemeasures (e.g., navigating the combine 12) to avoid collision.

In some embodiments, automated avoidance measures may be implemented.

For instance, the controller 28 may communicate with a navigationalsystem in the combine 12. Upon determining that the combine 12 and thebaler 14 are going to collide unless avoidance measures are implemented,the controller 28 may cause the navigational system of the combine 12 toshut down, or in some embodiments, bypass the navigational system andcause power directly to shut down. In some embodiments, the controller28 may cause (via signaling to the navigational system or directly) thecombine 12 to take other corrective action, such as causing the steeringsubsystem to rotate the wheels to avoid the collision. These and othermeasures to modify the relative manner of movement between the twomachines 12 and 14 (e.g., including adjusting steering mechanisms on thebaler 14) are contemplated to be within the scope of the disclosure.

In addition, for implementations where the combine 12 is dispensing cropmaterial from the outlet of the auger tube 24 to another type of towed(or un-towed) machine, such as a grain cart, there may be difficulty inaligning the outlet of the auger tube 24 to a receptacle of the graincart along a given axis (e.g., vertical axis) given the manner in whichthe combine 12 obscures an operator's view of the cart. Similarly, thebacking-up of the combine 12 to a hitch of a towed machine is likelycompromised due to the difficulty in viewing the same, and hencealigning along a given horizontal axis would provide a benefit to suchimplementations. The controller 28 may similarly use the relativeproximity computations as described above to enable the operator (e.g.,via a displayed graphic) to align the auger tube 24 (or other dispensingcomponent) with the receptacle to which the crop material is dispensedalong a given axis (e.g., vertical axis). Similarly, the controller 28may use the relative proximity information to align the combine 12 tothe baler 14 (e.g., at the hitch assembly) along a horizontal axis.

Attention is now directed to FIG. 4, which illustrates an exampleembodiment of a combine control system 42. In one embodiment, anarticulated machine proximity system may comprise all or a subset of thecomponents of the combine control system 42. One having ordinary skillin the art should appreciate in the context of the present disclosurethat the example combine control system 42 is merely illustrative, andthat some embodiments of the combine control system 42 may comprisefewer or additional components, and/or some of the functionalityassociated with the various components depicted in FIG. 4 may becombined, or further distributed among additional components, in someembodiments. In one embodiment, the combine control system 42 comprisesthe controller 28, one or more of the sending devices 26, ageo-positioning system 44 (e.g., global positioning system (GPS),geographic information system (GIS), etc.), a communications device 46,navigational controls 48, and machine controls 50, all coupled over anetwork 52, such as a controller area network (CAN), though not limitedto a CAN network or a single network. The sending devices 26, asdiscussed above, may comprise transceiver functionality, such as radiofrequency, optical, ultrasonic, among other bands of operation. Thecontroller 28 may comprise a computing device, such as aproportional-integral-derivative (PID) controller, a programmable logiccontroller (PLC), a computing device with an operating-system basedexecution system, or integrated circuit, among other types of devices,as described further below.

The geo-positioning system 44 enables the detection of a geofence, aswell the detection of positioning of the combine 12 in the field,detection of sensitive areas (e.g., buffer areas), and topographicboundaries, etc. In addition, the geo-positioning system 44 enablesauto-navigation in certain fields.

The communications device 46 enables the communication of informationwith other devices and/or networks (e.g., including mesh networks).Communication may include telephonic as well as datagram type traffic.For instance, the communications device 46 comprises amodulator/demodulator (e.g., a modem), wireless (e.g., radio frequency(RF)) transceiver, a telephonic interface, among other networkcomponents.

The navigational controls 48 collectively comprise the various actuatorsand/or controlled devices residing on the combine 12 to control machinenavigation. Controls 48 involved with machine navigation include thoseinvolved with advancing the combine 12 through a field or over aroadway, including steering subsystems, engine/drivetrain, etc.

The machine controls 50 include auger controls, chopper controls, amongother subsystem controls that are used to control operationcorresponding to the pickup, process, and/or disposition of cropmaterial.

Note that functionality of two or more of these components may reside ina single device. For instance, the controller 28 may include the sendingdevices 26, and be located in the cab of the combine 12. Such animplementation may enable communication with the target devices 30 overa wireless network, such as Bluetooth, among others.

As indicated above, the controller 28 receives and processes theposition information from the sending devices 26 (which is received fromthe target devices 30), and determines the relative positioning betweenthe combine 12 and the baler 14. FIG. 5 further illustrates an exampleembodiment of the controller 28. One having ordinary skill in the artshould appreciate in the context of the present disclosure that theexample controller 28, depicted as a computer system, is merelyillustrative, and that in some embodiments, may be configured as asemiconductor chip, programmable logic controller, or other processingdevice with the same or different functionality than illustrated in FIG.5. In some embodiments, functionality illustrated for the controller 28may be distributed among plural devices coupled to the controller 28over the network 52 (FIG. 4). Certain well-known components of computersystems are omitted here to avoid obfuscating relevant features of thecontroller 28. In one embodiment, the controller 28 comprises one ormore processing units 54, input/output (I/O) interface(s) 56, a displaydevice 58, and alarms 60, all coupled to one or more data busses, suchas data bus 62. A memory 64 is further included in the controller 28.

The memory 64 may include any one or a combination of volatile memoryelements (e.g., random-access memory RAM, such as DRAM, and SRAM, etc.)and nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM,etc.). The memory 64 may store a native operating system, one or morenative applications, emulation systems, or emulated applications for anyof a variety of operating systems and/or emulated hardware platforms,emulated operating systems, etc. In the embodiment depicted in FIG. 5,the memory 64 comprises an operating system 68, proximity determinationlogic 70 (e.g., software and/or firmware), and alarm graphics logic 72(e.g., software and/or firmware). It should be appreciated that in someembodiments, additional or fewer software modules (e.g., combinedfunctionality) may be employed in the memory 64 or additional memory. Insome embodiments, a separate storage device may be coupled to the databus 62, such as a persistent memory (e.g., optical, magnetic, and/orsemiconductor memory and associated drives).

The proximity determination logic 70 receives the positional informationsourced from the target devices 30 and forwarded to the controller 28via the I/O interfaces 56. The proximity determination logic 70 computesthe relative position along three axes between the combine 12 and thebaler 14 via triangulation. In some embodiments, the proximitydetermination logic 70 may compute relative positioning via othermethods, such as by receiving three axes information from inertialsensors located on the baler 14 and further based on geo-positionalinformation (e.g., to derive attitude of the combine 12 and baler 14).In either case, the proximity determination logic 70 compares thecurrent positional information in three axes (pitch, yaw, roll) withpredetermined threshold values corresponding to the proximity of thecombine 12 and baler 14.

If the baler 14 is too close according to the threshold values, theproximity determination logic 70 signals to the alarms 60 (e.g., toactivate visual and/or audio alarms) and/or signals to the alarmgraphics logic 72. The alarm graphics logic 72 is configured to generatea graphic of the combine and the baler 14 and their relative positioningbased on the computed relative locations of the combine 12 and baler 14,and provide the graphic on the display device 58 (e.g., for alerting theoperator of the combine). In some embodiments, the graphics may merelybe a visual warning (e.g., in text, or more rudimentary graphic symbols)displayed on the display device 58, or in some embodiments, omitted.

In addition to, or in lieu of alerting the operator in some embodiments,the proximity determination logic 70 signals over the network 52 (viaI/O interfaces 56) to the machine controls 50 and/or navigationalcontrols 48 to take avoidance measures (e.g., to avoid collision). Forinstance, signaling to the machine controls 50 may cause the augercontrols to rotate the auger tube 24 to avoid collision with the baler.As another example, signaling to the navigational controls 48 may causethe combine 12 to shut down (e.g., by cutting power to the PTO), oralter the current direction of movement (e.g., via signaling to steeringcontrols to cause a steering maneuver to offset a roll or yaw movement).Other collision avoidance measures may be undertaken and contemplated tobe within the scope of the disclosure.

In implementations where directed guidance of a component of the combinerelative to a towed implement is required (e.g., to align the dischargeoutlet of the auger tube 24 to a grain cart bed), the proximitydetermination logic 70 signals over the network 52 to the machinecontrols 50 to position the auger tube 24. In some embodiments, such aswhere the combine 12 is not coupled to a receiving vehicle (e.g., atruck equipped with target devices, where the truck bed is to receivethe crop material from the outlet of the auger tube 24), the proximitydetermination logic 70 signals over the network 52 to the navigationalcontrols 48 and machine controls 50 to move the combine close enough tothe bed of the truck and align the tube 24 with the bed.

Execution of the software modules 68, 70, and 72 in memory 64 isimplemented by the processing unit 54 under the auspices of theoperating system 68. In some embodiments, the operating system 68 may beomitted and a more rudimentary manner of control implemented.

The processing unit 54 may be embodied as a custom-made or commerciallyavailable processor, a central processing unit (CPU) or an auxiliaryprocessor among several processors, a semiconductor based microprocessor(in the form of a microchip), a macroprocessor, one or more applicationspecific integrated circuits (ASICs), a plurality of suitably configureddigital logic gates, and/or other well-known electrical configurationscomprising discrete elements both individually and in variouscombinations to coordinate the overall operation of the controller 28.

The I/O interfaces 56 provide one or more interfaces to the network 52,as well as interfaces for access to computer readable mediums, such asmemory drives, which includes an optical, magnetic, orsemiconductor-based drive. In other words, the I/O interfaces 56 maycomprise any number of interfaces for the input and output of signals(e.g., analog or digital data) for conveyance over the network 52 andother networks. The I/O interfaces 56 may further comprise I/O devicesthat the operator uses to enter commands, such as keyboards, or mouse,microphone, among others.

The display device 58 may comprise a liquid crystal diode (LCD), cathoderay tube (CRT), or other types of display devices. In some embodiments,the display device 58 may be embodied as a head-mounted display, such asan immersive stereoscopic environment. In some embodiments, the displaydevice 58 may be configured for touch-screen entry. Presented on thedisplay device 58 may be a graphics user interface (GUI), where theoperator can select button icons (e.g., via the I/O interfaces 56) andor observe alarms, such as graphics alerting the operator of animpending collision and/or directing the operator to maneuver the augertube 24 in relationship to a truck bed or grain cart located behind thecombine 12.

The alarms 60 may comprise visual and/or audio alarms, including audiblealarms (e.g., buzzers), warning lights (e.g., LED), etc.

The transceiver 70 includes functionality to enable wired or wirelesscommunication, such as locally or via a network to a remote location. Asa non-limiting example, the transceiver 70

When certain embodiments of the controller 28 are implemented at leastin part in logic configured as software/firmware, as depicted in FIG. 5,it should be noted that the logic can be stored on a variety ofnon-transitory computer-readable medium for use by, or in connectionwith, a variety of computer-related systems or methods. In the contextof this document, a computer-readable medium may comprise an electronic,magnetic, optical, or other physical device or apparatus that maycontain or store a computer program for use by or in connection with acomputer-related system or method. The logic may be embedded in avariety of computer-readable mediums for use by, or in connection with,an instruction execution system, apparatus, or device, such as acomputer-based system, processor-containing system, or other system thatcan fetch the instructions from the instruction execution system,apparatus, or device and execute the instructions.

When certain embodiment of the controller 28 are implemented at least inpart in logic configured as hardware, such functionality may beimplemented with any or a combination of the following technologies,which are all well-known in the art: a discrete logic circuit(s) havinglogic gates for implementing logic functions upon data signals, anapplication specific integrated circuit (ASIC) having appropriatecombinational logic gates, a programmable gate array(s) (PGA), a fieldprogrammable gate array (FPGA), etc.

Having described certain embodiments of an example controller 28 andcombine control system 42, attention is directed to the flow diagramshown in FIG. 6, which is an example method 74 transmitting a signal(76); receiving a first signal at a first angle and a second signal at asecond angle responsive to the transmitted signal, the first and secondsignals comprising first information and second information,respectively, the first and second information each corresponding torespective positional information (78); and determining a relativeposition in three axes between a first machine and a second machinebased on the first and second information (80).

Any process descriptions or blocks in flow charts should be understoodas representing modules, segments, or portions of code which include oneor more executable instructions for implementing specific logicalfunctions or steps in the process, and alternate implementations areincluded within the scope of the embodiments in which functions may beexecuted out of order from that shown or discussed, includingsubstantially concurrently or in reverse order, depending on thefunctionality involved, as would be understood by those reasonablyskilled in the art of the present disclosure. Further, it should beappreciated that the above-described method of FIG. 6 is not necessarilylimited to the architectures of the combine control system 42 orcontroller 28 depicted in FIGS. 4 and 5.

It should be emphasized that the above-described embodiments of thepresent disclosure are merely possible examples of implementations,merely set forth for a clear understanding of the principles of thedisclosure. Many variations and modifications may be made to theabove-described embodiment(s) of the disclosure without departingsubstantially from the spirit and principles of the disclosure. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure and protected by the following claims.

At least the following is claimed:
 1. An articulated machine proximitysystem, the system comprising: a first device comprising a transceiver,the first device configured to: transmit a signal; receive a firstsignal at a first angle and a second signal at a second angle responsiveto the transmitted signal, the first and second signals comprising firstinformation and second information, respectively, the first and secondinformation each corresponding to respective positional information; anda controller coupled to the first device, the controller configured todetermine a relative position in three axes between a first machine anda second machine based on the first and second information.
 2. Thesystem of claim 1, wherein the controller is configured to determine therelative position based on a triangulation computation.
 3. The system ofclaim 1, wherein the three axes consist of pitch, roll, and yaw.
 4. Thesystem of claim 1, wherein the controller is configured to cause acomponent of the first machine to align with a component of the secondmachine along a first axis.
 5. The system of claim 4, wherein the firstaxis is either a horizontal axis or a vertical axis.
 6. The system ofclaim 1, wherein the controller is configured to alert an operator whenthe relative position between the first machine and the second machinecloses to within a threshold distance.
 7. The system of claim 6, whereinthe controller is configured to alert the operator by providing a visualalert, an audio alert, or a combination of both.
 8. The system of claim1, wherein the controller is configured to automatically cause one ofthe first machine or the second machine to modify a current manner ofmovement responsive to the relative position between the first machineand the second machine closing to within a threshold distance.
 9. Thesystem of claim 8, wherein the controller is further configured to alertan operator when the relative position between the first machine and thesecond machine closes to within a threshold distance.
 10. The system ofclaim 1, wherein the relative position between the first machine and thesecond machine comprises a relative position between a first componentof a towing vehicle and a second component of a vehicle towed by thetowing vehicle.
 11. The system of claim 10, wherein the first componentcomprises an unloading auger of a combine harvester machine and thesecond component comprises a frame of a baler.
 12. The system of claim1, wherein the first device is configured to receive the first signaland the second signal from second and third target devices.
 13. Thesystem of claim 12, wherein the first device is located on the firstmachine embodied as a towing machine and the second and third device arecoupled to the second machine embodied as a towed machine.
 14. Thesystem of claim 12, wherein the second and third devices are located onthe first machine embodied as a towing machine and the first device iscoupled to the second machine embodied as a towed machine.
 15. Thesystem of claim 1, wherein the controller and the first device areco-located in a single integrated processing unit.
 16. The system ofclaim 1, wherein the first device is configured to transmit the signalas either a broadcast signal or a non-broadcast signal.
 17. The systemof claim 1, further comprising one or more first additional devices oflike-functionality to the first device and one or more second additionaldevices of like functionality to the second and third devices.
 18. Anarticulated machine proximity system, the system comprising: acontroller configured to: receive first information corresponding to afirst set of positional information; receive second informationcorresponding to a second set of positional information; determine arelative position in three axes between a towing machine and a towedmachine based on triangulation of the first and second information; andcause an action responsive to the determination, the action comprisingone or more of: alerting an operator when the relative position betweenthe towed machine and the towing machine closes to within a thresholddistance; cause one of the towed machine or the towing machine to modifya current manner of movement responsive to the relative position betweenthe towing machine and the towed machine closing to within the thresholddistance; or cause a component of the towing machine to align with acomponent of the towed machine along a first axis.
 19. The system ofclaim 18, further comprising plural transceiver devices located on thetowed machine and at least one target device located on the towingvehicle, the plural transceiver devices configured to receive first andsecond signals corresponding to the first and second information,respectively, from the at least one target device, the first and secondsignals received at different angles, the plural transceiver devicesconfigured to communicate the first and second information to thecontroller.
 20. An articulated machine proximity method, the methodcomprising: transmitting a signal; receiving a first signal at a firstangle and a second signal at a second angle responsive to thetransmitted signal, the first and second signals comprising firstinformation and second information, respectively, the first and secondinformation each corresponding to respective positional information; anddetermining a relative position in three axes between a first machineand a second machine based on the first and second information.